ROS-话题消息的定义和使用

1、话题消息的定义和使用

1.1话题模型

• 自定义消息的类型，并创建发布者和订阅者，利用话题进行传输。
• 发布者：Publihser(person_publisher)
• 发布者发布Message（learning_topic::Person）
• 话题：Topic(person_info)
• 订阅者：Subscriber(person_subscriber)

1.2自定义话题消息

• 话题消息person_info的内容：

strin name
uint8 sex
uint8 age

uint8 unknow = 0
uint8 male = 1
uint8 female = 2

• 将上面内容放在Person.msg中。
• 在package.xml中添加功能包依赖

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

• 在CMakeLists.txt添加编译选型

find_package( …… message_generation)
add_message_files(FILES Person.msg)
generate_messages(DEPENDENCIES std_msgs)
catkin_package(…… message_runtime)

• 编译生成语言相关文件

1.3话题消息具体步骤

1.3.1打开功能包下面并创建文件夹

ubuntu@ubuntu:~/catkin_ws$ cd ~/catkin_ws/src/learning_topic/
ubuntu@ubuntu:~/catkin_ws/src/learning_topic$ mkdir msg
ubuntu@ubuntu:~/catkin_ws/src/learning_topic$ ls
CMakeLists.txt  include  msg  package.xml  scripts  src

1.3.2创建文件并输入内容

ubuntu@ubuntu:~/catkin_ws/src/learning_topic$ cd msg/
ubuntu@ubuntu:~/catkin_ws/src/learning_topic/msg$ touch Person.msg
ubuntu@ubuntu:~/catkin_ws/src/learning_topic/msg$ gedit Person.msg 

• 打开后输入下面内容：

strin name
uint8 sex
uint8 age

uint8 unknow = 0
uint8 male = 1
uint8 female = 2

• 保存之后退出

1.3.3修改配置文件package.xml

ubuntu@ubuntu:~/catkin_ws/src/learning_topic/msg$ cd ../
ubuntu@ubuntu:~/catkin_ws/src/learning_topic$ ls
CMakeLists.txt  include  msg  package.xml  scripts  src
ubuntu@ubuntu:~/catkin_ws/src/learning_topic$ gedit package.xml 

• 打开文件后进行编辑增加下面两句

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

• <build_depend>xxx</build_depend>是编译依赖，依赖于xxx包
• <exec_depend>xxx</exec_depend>是执行依赖，依赖于运行的xxx包
• 上面两个依赖是进行创建话题消息的固定的依赖包。
• 添加之后保存退出

1.3.4修改配置文件CMakeLists.txt

ubuntu@ubuntu:~/catkin_ws/src/learning_topic$ ls
CMakeLists.txt  include  msg  package.xml  scripts  src
ubuntu@ubuntu:~/catkin_ws/src/learning_topic$ gedit CMakeLists.txt 

• 打开后再合适的地方添加，根据关键词查位置：find_package、add_message_files、generate_messages、catkin_package

# 一般在开头
find_package(
xxx #之前的依赖包
message_generation
)


## Declare ROS messages, services and actions ##
add_message_files(
   FILES 
   Person.msg
)
generate_messages(
   DEPENDENCIES 
   std_msgs
)


## catkin specific configuration ##

catkin_package(
  xxx #之前的依赖包
  CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim
  message_runtime
)

• 添加完成后保存退出

1.3.5回到根目录下做编译

ubuntu@ubuntu:~/catkin_ws/src/learning_topic$ cd ~/catkin_ws/
ubuntu@ubuntu:~/catkin_ws$ catkin_make

• ROS会根据编写的固定格式转换成C++的数据类型定义，进行使用，转换完成的内容在/catkin_ws/devel/include/learning_topic中

1.4发布者和订阅者的编写

• 1、打开功能包及SRC路径新建文件。

ubuntu@ubuntu:~/catkin_ws/devel/include/learning_topic$ roscd learning_topic/
ubuntu@ubuntu:~/catkin_ws/src/learning_topic$ ls
CMakeLists.txt  include  msg  package.xml  scripts  src
ubuntu@ubuntu:~/catkin_ws/src/learning_topic$ cd src/
ubuntu@ubuntu:~/catkin_ws/src/learning_topic/src$ touch person_publisher.cpp

ubuntu@ubuntu:~/catkin_ws/src/learning_topic/src$ touch person_subscriber.cpp

• 2、编写发布者。

ubuntu@ubuntu:~/catkin_ws/src/learning_topic/src$ gedit person_publisher.cpp 

• • 打开输入一下内容：

#include <ros/ros.h>
#include "learning_topic/Person.h"

int main(int argc, char **argv)
{
    // ROS节点初始化
    ros::init(argc, argv, "person_publisher");

    // 创建节点句柄
    ros::NodeHandle n;

    // 创建一个Publisher，发布名为/person_info的topic，消息类型为learning_topic::Person，队列长度10
    ros::Publisher person_info_pub = n.advertise<learning_topic::Person>("/person_info", 10);

    // 设置循环的频率
    ros::Rate loop_rate(1);

    int count = 0;
    while (ros::ok())
    {
        // 初始化learning_topic::Person类型的消息
    	learning_topic::Person person_msg;
		person_msg.name = "Tom";
		person_msg.age  = 18;
		person_msg.sex  = learning_topic::Person::male;

        // 发布消息
		person_info_pub.publish(person_msg);

       	ROS_INFO("Publish Person Info: name:%s  age:%d  sex:%d", 
				  person_msg.name.c_str(), person_msg.age, person_msg.sex);

        // 按照循环频率延时
        loop_rate.sleep();
    }

    return 0;
}

• • 保存退出
• 3、编写订阅者。

ubuntu@ubuntu:~/catkin_ws/src/learning_topic/src$ gedit person_subscriber.cp

• • 打开输入一下内容：

#include <ros/ros.h>
#include "learning_topic/Person.h"

// 接收到订阅的消息后，会进入消息回调函数
void personInfoCallback(const learning_topic::Person::ConstPtr& msg)
{
    // 将接收到的消息打印出来
    ROS_INFO("Subcribe Person Info: name:%s  age:%d  sex:%d", 
			 msg->name.c_str(), msg->age, msg->sex);
}

int main(int argc, char **argv)
{
    // 初始化ROS节点
    ros::init(argc, argv, "person_subscriber");

    // 创建节点句柄
    ros::NodeHandle n;

    // 创建一个Subscriber，订阅名为/person_info的topic，注册回调函数personInfoCallback
    ros::Subscriber person_info_sub = n.subscribe("/person_info", 10, personInfoCallback);

    // 循环等待回调函数
    ros::spin();

    return 0;
}

• 4、回到工作空间进行编译

ubuntu@ubuntu:~/catkin_ws/src/learning_topic$ cd ~/catkin_ws/
ubuntu@ubuntu:~/catkin_ws$ catkin_make

• • 结果：

Base path: /home/ubuntu/catkin_ws
Source space: /home/ubuntu/catkin_ws/src
Build space: /home/ubuntu/catkin_ws/build
Devel space: /home/ubuntu/catkin_ws/devel
Install space: /home/ubuntu/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/ubuntu/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/ubuntu/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/ubuntu/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/ubuntu/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/ubuntu/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 2 packages in topological order:
-- ~~  - learning_topic
-- ~~  - py_learning_topic
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'learning_topic'
-- ==> add_subdirectory(learning_topic)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- learning_topic: 1 messages, 0 services
-- +++ processing catkin package: 'py_learning_topic'
-- ==> add_subdirectory(py_learning_topic)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ubuntu/catkin_ws/build
####
#### Running command: "make -j1 -l1" in "/home/ubuntu/catkin_ws/build"
####
[  0%] Built target std_msgs_generate_messages_cpp
[  0%] Built target _learning_topic_generate_messages_check_deps_Person
[  6%] Built target learning_topic_generate_messages_cpp
Scanning dependencies of target person_subscriber
[ 13%] Building CXX object learning_topic/CMakeFiles/person_subscriber.dir/src/person_subscriber.cpp.o
[ 20%] Linking CXX executable /home/ubuntu/catkin_ws/devel/lib/learning_topic/person_subscriber
[ 20%] Built target person_subscriber
Scanning dependencies of target person_publisher
[ 26%] Building CXX object learning_topic/CMakeFiles/person_publisher.dir/src/person_publisher.cpp.o
[ 33%] Linking CXX executable /home/ubuntu/catkin_ws/devel/lib/learning_topic/person_publisher
[ 33%] Built target person_publisher
[ 46%] Built target pose_subscriber
Scanning dependencies of target velocity_publisher
[ 53%] Building CXX object learning_topic/CMakeFiles/velocity_publisher.dir/src/velocity_publisher.cpp.o
[ 60%] Linking CXX executable /home/ubuntu/catkin_ws/devel/lib/learning_topic/velocity_publisher
[ 60%] Built target velocity_publisher
[ 60%] Built target std_msgs_generate_messages_nodejs
[ 66%] Built target learning_topic_generate_messages_nodejs
[ 66%] Built target std_msgs_generate_messages_py
[ 80%] Built target learning_topic_generate_messages_py
[ 80%] Built target std_msgs_generate_messages_lisp
[ 86%] Built target learning_topic_generate_messages_lisp
[ 86%] Built target std_msgs_generate_messages_eus
[100%] Built target learning_topic_generate_messages_eus
[100%] Built target learning_topic_generate_messages

1.5运行编写的程序

1.5.1运行roscore

ubuntu@ubuntu:~/catkin_ws$ roscore

1.5.2运行发布者

ubuntu@ubuntu:~/catkin_ws$ rosrun learning_topic person_publisher 

1.5.3运行订阅者

ubuntu@ubuntu:~/catkin_ws$ rosrun learning_topic person_subscriber 

1.5.4结果说明

• 发布者根据发布者程序中的代码发送固定的信息

ubuntu@ubuntu:~/catkin_ws$ rosrun learning_topic person_publisher 
[ INFO] [1636890566.998334986]: Publish Person Info: name:Tom  age:18  sex:1
[ INFO] [1636890567.999594084]: Publish Person Info: name:Tom  age:18  sex:1

• 订阅者通过订阅话题进行接收话题中消息进行打印

ubuntu@ubuntu:~/catkin_ws$ rosrun learning_topic person_subscriber 
[ INFO] [1636890591.999855074]: Subcribe Person Info: name:Tom  age:18  sex:1
[ INFO] [1636890592.999571488]: Subcribe Person Info: name:Tom  age:18  sex:1

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